Modeling and control of a novel Hybrid Ground Aerial Robot

Elsamanty, Mahmoud; Fanni, Mohamed; Ramadan, Ahmed; Abo-Ismail, Ahmed

doi:10.1109/icma.2013.6618146

Cited by 6 publications

(2 citation statements)

References 12 publications

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“…In contrast to the extensive field of conventional robotics, soft robotics has emerged as a distinct and promising research domain, reshaping the landscape of robot design and motion. Soft robotics represents a paradigm shift from traditional approaches, as it leverages the inherent properties of its actuators to achieve motion without relying on external torque or conventional motors [ 11 , 12 , 13 , 14 ]. Soft robots employ soft and flexible materials such as elastomers and silicone rubber, enabling versatile and adaptable movements.…”

Section: Advancements In Soft Pneumatic Musclesmentioning

confidence: 99%

Soft Pneumatic Muscles: Revolutionizing Human Assistive Devices with Geometric Design and Intelligent Control

et al. 2023

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Soft robotics, a recent advancement in robotics systems, distinguishes itself by utilizing soft and flexible materials like silicon rubber, prioritizing safety during human interaction, and excelling in handling complex or delicate objects. Soft pneumatic actuators, a prevalent type of soft robot, are the focus of this paper. A new geometrical parameter for soft artificial pneumatic muscles is introduced, enabling the prediction of actuation behavior using analytical models based on specific design parameters. The study investigated the impact of the chamber pitch parameter and actuation conditions on the deformation direction and internal stress of three tested soft pneumatic muscle (SPM) models. Simulation involved the modeling of hyperelastic materials using finite element analysis. Additionally, an artificial neural network (ANN) was employed to predict pressure values in three chambers at desired Cartesian positions. The trained ANN model demonstrated exceptional performance. It achieved high accuracy with training, validation, and testing residuals of 99.58%, 99.89%, and 99.79%, respectively. During the validation simulations and neural network results, the maximum errors in the x, y, and z coordinates were found to be 9.3%, 7.83%, and 8.8%, respectively. These results highlight the successful performance and efficacy of the trained ANN model in accurately predicting pressure values for the desired positions in the soft pneumatic muscles.

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Section: Advancements In Soft Pneumatic Musclesmentioning

confidence: 99%

Soft Pneumatic Muscles: Revolutionizing Human Assistive Devices with Geometric Design and Intelligent Control

et al. 2023

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“…By effectively addressing the limitations of traditional rigid rehabilitation robots, soft robots have found significant utility in specific applications within the rehabilitation field. Notably, actuator-based bionic soft robots have emerged as a prominent and extensively researched topic ( Elsamanty et al, 2012 ; Elsamanty et al, 2013 ), finding widespread utilization in the medical device industry ( Pan et al, 2022 ). Consequently, the development and utilization of soft robots represent a substantial advancement in rehabilitation, offering enhanced safety, adaptability, and functionality compared to their rigid counterparts.…”

Section: Introductionmentioning

confidence: 99%

Soft pneumatic muscles for post-stroke lower limb ankle rehabilitation: leveraging the potential of soft robotics to optimize functional outcomes

Orban,

Guo,

Yang

et al. 2023

Front. Bioeng. Biotechnol.

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Introduction: A soft pneumatic muscle was developed to replicate intricate ankle motions essential for rehabilitation, with a specific focus on rotational movement along the x-axis, crucial for walking. The design incorporated precise geometrical parameters and air pressure regulation to enable controlled expansion and motion.Methods: The muscle’s response was evaluated under pressure conditions ranging from 100-145 kPa. To optimize the muscle design, finite element simulation was employed to analyze its performance in terms of motion range, force generation, and energy efficiency. An experimental platform was created to assess the muscle’s deformation, utilizing advanced techniques such as high-resolution imaging and deep-learning position estimation models for accurate measurements. The fabrication process involved silicone-based materials and 3D-printed molds, enabling precise control and customization of muscle expansion and contraction.Results: The experimental results demonstrated that, under a pressure of 145 kPa, the y-axis deformation (y-def) reached 165 mm, while the x-axis and z-axis deformations were significantly smaller at 0.056 mm and 0.0376 mm, respectively, highlighting the predominant elongation in the y-axis resulting from pressure actuation. The soft muscle model featured a single chamber constructed from silicone rubber, and the visually illustrated and detailed geometrical parameters played a critical role in its functionality, allowing systematic manipulation to meet specific application requirements.Discussion: The simulation and experimental results provided compelling evidence of the soft muscle design’s adaptability, controllability, and effectiveness, thus establishing a solid foundation for further advancements in ankle rehabilitation and soft robotics. Incorporating this soft muscle into rehabilitation protocols holds significant promise for enhancing ankle mobility and overall ambulatory function, offering new opportunities to tailor rehabilitation interventions and improve motor function restoration.

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Modeling and control of a new aerial manipulation system of a Hybrid Ground Aerial Robot

Saeed

Fanni

Mohamed

2018

2018 IEEE International Conference on Industrial Technology (ICIT)

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Modeling and control of a novel Hybrid Ground Aerial Robot

Cited by 6 publications

References 12 publications

Soft Pneumatic Muscles: Revolutionizing Human Assistive Devices with Geometric Design and Intelligent Control

Soft Pneumatic Muscles: Revolutionizing Human Assistive Devices with Geometric Design and Intelligent Control

Soft pneumatic muscles for post-stroke lower limb ankle rehabilitation: leveraging the potential of soft robotics to optimize functional outcomes

Modeling and control of a new aerial manipulation system of a Hybrid Ground Aerial Robot

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